Integrating Robotics into First-Year Experience Courses

Robotics are a popular component of many introductory engineering and computer science courses. At Southern Adventist University, the School of Computing faculty decided to integrate robotics into a discipline-specific section of the University’s first-year experience course. The integration of robotics into a first-year experience course has created a hands-on introduction to college life within the Computing discipline while introducing students to the problem-solving process. This paper will introduce a very low-cost robotic platform kit ($50-75) that has been developed for the first-year experience course. Student assessment data from the first offering of this course with the SouthernBot 2.0 kit shows that overall, students were engaged in the open-ended design projects completed during the building of the robot platform

Using System-on-a-Programmable-Chip Technology to Design Embedded Systems

This paper describes the tools, techniques, and devices used to design embedded products with system–on-a-chip (SoC) type solutions using a large Field Programmable Gate Array (FPGA) with an internal processor core. This new FPGA-based approach is called system-on-a-programmable-chip (SoPC ). The performance tradeoffs present in SoPC systems is compared to more traditional design approaches. Commercial devices, processor cores, and CAD tool flows are described. The issues in SoPC hardware/software design tradeoffs are examined and three example SoPC designs are presented as case studies

Teaching Hardware Design of Fixed-Point Digital Signal Processing Systems

Signal processing theory and practice are enabling and driving forces behind multimedia devices, communications systems, and even such diverse fields as automotive and medical systems. Over 90 % of the signal processing systems on the market used fixed-point arithmetic because of the cost, power, and area savings that fixed-point systems provide. However, most colleges and universities do not teach or teach only a very little fixed-point signal processing. This issue is being addressed slowly around the country but now a new challenge or opportunity presents itself. As reconfigurable logic technology matures, field-programmable gate arrays (FPGAs) are increasingly used for signal processing systems. They have the advantage of tremendous throughput, great flexibility, and system integration. The challenge is that signal processing in FPGAs is a much less constrained problem than signal processing in special purpose microprocessors. The opportunity arises in that it is now possible to explore more options and, more especially, to take a more systems-level approach to signal processing systems. In short, designing a signal processing system using FPGAs provides opportunities to look at many system design issues and trade-offs in a classroom setting. We have developed a course to teach signal processing in FPGAs at Georgia Institute of Technology and in this paper we consider the challenges and methods of teaching fixedpoint system design in this course. We discuss the topics chosen and how they differ from traditional microprocessor-based courses. We also discuss how systems engineering concepts are woven into the course.

An introductory digital design course using a low–cost autonomous robot

This paper describes a new digital design laboratory developed for undergraduate students in this electrical and computer engineering curriculum. A top-down rapid prototyping approach with commercial computer-aided design tools and field-programmable logic devices (FPLDs) is used for laboratory projects. Students begin with traditional transistor–transistor logic-based projects containing a few gates and progress to designing a simple 16-bit computer, using very high-speed integrated circuits hardware description language (VHDL) synthesis tools and an FPLD. To help motivate students, the simple computer design is programmed to control a small autonomous robot with two servo drive motors and several sensors. The laboratory concludes with a team-based design project using the robot

Application performance of elements in a floating–gate FPAA

Field–programmable analog arrays (FPAAs) provide a method for rapidly prototyping analog systems. Currently available commercial and academic FPAAs are typically based on operational amplifiers (or other similar analog primitives) with only a few computational elements per chip. While their specific architectures vary, their small sizes and often restrictive interconnect designs leave current FPAAs limited in functionality, flexibility, and usefulness. In this paper, we explore the use of floating–gate devices as the core programmable element in a signal processing FPAA. A generic FPAA architecture is presented that offers increased functionality and flexibility in realizing analog systems. In addition, the computational analog elements are shown to be widely and accurately programmable while remaining small in area. 1. LOW–POWER SIGNAL PROCESSING The future of FPAAs lie in their ability to speed the implementatio

Developing large-scale field-programmable analog arrays for rapid prototyping

Field-programmable analog arrays (FPAAs) provide a method for rapidly prototyping analog systems. While currently available FPAAs vary in architecture and interconnect design, they are often limited in size and flexibility. For FPAAs to be as useful and marketable as modern digital reconfigurable devices, new technologies must be explored to provide area efficient, accurately programmable analog circuitry that can be easily integrated into a larger digital/mixed signal system. By leveraging recent advances in floating gate transistors, a new generation of FPAAs are achievable that will dramatically advance the current state of the art in terms of size, functionality, and flexibility

Unavoidable Selection Effects in the Analysis of Faint Galaxies in the Hubble Deep Field: Probing the Cosmology and Merger History of Galaxies

(Abridged) We present a detailed analysis of the number count and photometric redshift distribution of faint galaxies in the Hubble Deep Field (HDF), paying a special attention to the selection effects including the cosmological dimming of surface brightness of galaxies. We find a considerably different result from previous studies ignoring the selection effects, and these effects should therefore be taken into account in the analysis. We find that the model of pure luminosity evolution (PLE) of galaxies in the Einstein-de Sitter (EdS) universe predicts much smaller counts than those observed at faint magnitude limits by a factor of more than 10, so that a very strong number evolution of galaxies with \eta > 3-4 must be invoked to reproduce the I_{814} counts, when parametrized as \phi^* \propto (1+z)^\eta. However we show that such a strong number evolution under realistic merging processes of galaxies can not explain the steep slope of the B_{450} and V_{606} counts, and it is seriously inconsistent with their photometric redshift distribution. We find that these difficulties still persist in an open universe with \Omega_0 > 0.2, but are resolved only when we invoke a $\Lambda$-dominated flat universe, after examining various systematic uncertainties in modeling the formation and evolution of galaxies. The present analysis revitalizes the practice of using faint number counts as an important cosmological test, giving one of the arguments against the EdS universe and suggests acceleration of the cosmic expansion by vacuum energy density. While a modest number evolution of galaxies with \eta ~ 1 is still necessary even in a Lambda-dominated universe, a stronger number evolution with \eta > 1 is rejected from the HDF data, giving a strong constraint on the merger history of galaxies.Comment: 24 pages, 15 figures, final version matching publication in ApJ. Some references added. The complete ps file of Table 3 is available at http://th.nao.ac.jp/~totani/images/paper/ty2000-table3.p

Colored Motifs Reveal Computational Building Blocks in the C. elegans Brain

Background: Complex networks can often be decomposed into less complex sub-networks whose structures can give hints about the functional organization of the network as a whole. However, these structural motifs can only tell one part of the functional story because in this analysis each node and edge is treated on an equal footing. In real networks, two motifs that are topologically identical but whose nodes perform very different functions will play very different roles in the network. Methodology/Principal Findings: Here, we combine structural information derived from the topology of the neuronal network of the nematode C. elegans with information about the biological function of these nodes, thus coloring nodes by function. We discover that particular colorations of motifs are significantly more abundant in the worm brain than expected by chance, and have particular computational functions that emphasize the feed-forward structure of information processing in the network, while evading feedback loops. Interneurons are strongly over-represented among the common motifs, supporting the notion that these motifs process and transduce the information from the sensor neurons towards the muscles. Some of the most common motifs identified in the search for significant colored motifs play a crucial role in the system of neurons controlling the worm's locomotion. Conclusions/Significance: The analysis of complex networks in terms of colored motifs combines two independent data sets to generate insight about these networks that cannot be obtained with either data set alone. The method is general and should allow a decomposition of any complex networks into its functional (rather than topological) motifs as long as both wiring and functional information is available

Comparison of embedded and added motor imagery training in patients after stroke: Study protocol of a randomised controlled pilot trial using a mixed methods approach

Copyright @ 2009 Schuster et al; licensee BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Background: Two different approaches have been adopted when applying motor imagery (MI) to stroke patients. MI can be conducted either added to conventional physiotherapy or integrated within therapy sessions. The proposed study aims to compare the efficacy of embedded MI to an added MI intervention. Evidence from pilot studies reported in the literature suggests that both approaches can improve performance of a complex motor skill involving whole body movements, however, it remains to be demonstrated, which is the more effective one.Methods/Design: A single blinded, randomised controlled trial (RCT) with a pre-post intervention design will be carried out. The study design includes two experimental groups and a control group (CG). Both experimental groups (EG1, EG2) will receive physical practice of a clinical relevant motor task ('Going down, laying on the floor, and getting up again') over a two week intervention period: EG1 with embedded MI training, EG2 with MI training added after physiotherapy. The CG will receive standard physiotherapy intervention and an additional control intervention not related to MI.The primary study outcome is the time difference to perform the task from pre to post-intervention. Secondary outcomes include level of help needed, stages of motor task completion, degree of motor impairment, balance ability, fear of falling measure, motivation score, and motor imagery ability score. Four data collection points are proposed: twice during baseline phase, once following the intervention period, and once after a two week follow up. A nested qualitative part should add an important insight into patients' experience and attitudes towards MI. Semi-structured interviews of six to ten patients, who participate in the RCT, will be conducted to investigate patients' previous experience with MI and their expectations towards the MI intervention in the study. Patients will be interviewed prior and after the intervention period.Discussion: Results will determine whether embedded MI is superior to added MI. Findings of the semi-structured interviews will help to integrate patient's expectations of MI interventions in the design of research studies to improve practical applicability using MI as an adjunct therapy technique